cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

# in below example, "chassis" is the name of the executable
rosbuild_add_executable(chassis src/chassis.cpp)
rosbuild_add_executable(joystick src/joystick.cpp)
rosbuild_add_executable(vision src/vision.cpp)
rosbuild_add_executable(brain src/brain.cpp)

include($ENV{ROS_ROOT}/core/rosbuild/FindPkgConfig.cmake)
pkg_check_modules(SDL REQUIRED sdl)
include_directories(${SDL_INCLUDE_DIRS})
link_directories(${SDL_LIBRARY_DIRS})

pkg_check_modules(OPENCV REQUIRED opencv)
include_directories(${OPENCV_INCLUDE_DIRS})
link_directories(${OPENCV_LIBRARY_DIRS})

pkg_check_modules(CXCORE REQUIRED cxcore)
include_directories(${CXCORE_INCLUDE_DIRS})
link_directories(${CXCORE_LIBRARY_DIRS})

pkg_check_modules(HIGHGUI REQUIRED highgui)
include_directories(${HIGHGUI_INCLUDE_DIRS})
link_directories(${HIGHGUI_LIBRARY_DIRS})

target_link_libraries(joystick ${SDL_LIBRARIES})
target_link_libraries(vision ${OPENCV_LIBRARIES})
target_link_libraries(vision ${CXCORE_LIBRARIES})
target_link_libraries(vision ${HIGHGUI_LIBRARIES})
